#!/usr/bin/env python
import sys, rospy, time
from std_msgs.msg import Float64
from std_msgs.msg import String
class talker:
	def __init__(self):
		self.order = 0
		self.command = rospy.Publisher('communication',Float64,queue_size=10)
		rospy.Subscriber('back',Float64,self.call_back)

	def mainpub(self):
		self.command.publish(self.order)

	def call_back(self,data):
		self.order = data.data
		


	
if __name__ == '__main__':
	
	rospy.init_node('main', anonymous=False)
	
	
	talk = talker()
	rate = rospy.Rate(10)
	while True:
		talk.mainpub()
		rate.sleep()




	

	
	
     

	

     

